This paper describes a method for recognizing voice command based on a fuzzy logic system capable of perceiving fuzzy commands, i.e. commands containing fuzzy terms, for example, ‘close’, ‘closer’, ‘close to’, ‘closer than’, ‘further’ and ‘very far’. The developed approach has the ability to be trained for a specific user. The developed fuzzy logic system is used to recognize linguistically inaccurate commands in order to increase the expressiveness of the language for control of a moving robot.